CN111434201A - Component supply device and component supply method - Google Patents

Abstract

A component supply apparatus includes: multiple supply devices for supplying components of different shapes; multiple worktables on which the components supplied from the supply devices are distributed; and a control unit for supplying components from each supply device of the multiple supply devices to the worktables at arbitrary timings. Furthermore, a component supply method supplies components of different shapes supplied from each supply device of the multiple supply devices to each worktable of the multiple worktables in a distributed state on each worktable to a component assembly device, wherein the component quantity can be varied according to each worktable.

Description

Component supply device and component supply method

technical field

The present invention relates to a component supply device including a replenishment device for replenishing components, and a table for distributing components replenished from the replenishment device, and the like.

Background technique

In the component supply device, as described in the following patent documents, components are supplied in a state of being spread on a table.

prior art literature

Patent Literature

Patent Document 1: Japanese Patent Laid-Open No. 2010-228819

SUMMARY OF THE INVENTION

The problem to be solved by the invention

In the above-mentioned patent documents, components are supplied on one stage, but there is no description of supplying components on a plurality of stages. Therefore, an object of the present invention is to appropriately supply components on each of the plurality of stages.

means of solving problems

In order to solve the above-mentioned problems, the present specification discloses a component supply device including: a plurality of supply devices for supplying components of different shapes, respectively; and a plurality of tables on which the components supplied from the supply devices are scattered on the table and a control unit for supplying the components to the table from each supply device of the plurality of supply devices at an arbitrary timing.

In order to solve the above-mentioned problems, the present specification discloses a component supply method, in which components of different shapes supplied from each of a plurality of supply devices to each of a plurality of workbenches are supplied to each of the plurality of workbenches. The state scattered on the table is supplied to the component mounting apparatus, and the component amount can be changed corresponding to each of the plurality of tables.

Invention effect

According to the present disclosure, components can be supplied to the table from each of the plurality of supply devices at arbitrary timing. Furthermore, it is possible to change the amount of components supplied from the supply device that supplies components to the table corresponding to each of the plurality of tables.

Description of drawings

FIG. 1 is a perspective view showing a component mounting machine.

FIG. 2 is a perspective view showing a component mounting device of the component mounting machine.

Fig. 3 is a perspective view showing a bulk component supply device.

FIG. 4 is a perspective view showing a component supply unit.

FIG. 5 is a perspective view showing a component supply unit.

FIG. 6 is a perspective view showing a component supply unit.

FIG. 7 is a perspective view showing a component dispersion device.

FIG. 8 is a perspective view showing a component dispersion device.

9 is a perspective view showing a component holding head.

FIG. 10 is a diagram showing a component receiving member in a state where lead components are accommodated.

FIG. 11 is a block diagram showing a control device of the component mounting machine.

FIG. 12 is a diagram showing a table on which lead elements of smaller size are scattered.

FIG. 13 is a view showing a table on which lead elements of relatively large size are scattered.

FIG. 14 is a diagram showing a conveyor belt in a state in which a lead element of a relatively small size has entered between two adjacent protrusions.

FIG. 15 is a diagram showing a conveyor belt in a state in which a lead element having a relatively large size has entered between two adjacent protrusions.

Detailed ways

Hereinafter, as a mode for carrying out the present invention, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

(A) Structure of component mounting machine

FIG. 1 shows a component mounting machine 10 . The component mounting machine 10 is an apparatus for performing a mounting operation of components on the circuit substrate 12 . The component mounting machine 10 includes an apparatus main body 20 , a substrate conveying and holding device 22 , a component mounting device 24 , imaging devices 26 and 28 , a component supply device 30 , a bulk component supply device 32 , and a control device (see FIG. 11 ) 34 . In addition, the circuit board, the base material of a three-dimensional structure, etc. are mentioned as the circuit base material 12, and a printed wiring board, a printed wiring board, etc. are mentioned as a circuit board.

The apparatus main body 20 is constituted by a frame portion 40 and a beam portion 42 built over the frame portion 40 . The substrate conveyance and holding device 22 is disposed at the center of the frame portion 40 in the front-rear direction, and includes a conveyance device 50 and a clamp device 52 . The conveying device 50 is a device that conveys the circuit base material 12 , and the clamping device 52 is a device that holds the circuit base material 12 . Thereby, the circuit base material 12 is conveyed by the base material conveyance and holding apparatus 22, and the circuit base material 12 is fixed and held at a predetermined position. In addition, in the following description, the conveyance direction of the circuit substrate 12 is called X direction, the horizontal direction perpendicular|vertical to this direction is called Y direction, and the vertical direction is called Z direction. That is, the width direction of the component mounting machine 10 is the X direction, and the front-rear direction is the Y direction.

The component mounting device 24 is arranged on the beam portion 42 , and has two working heads 60 and 62 and a working head moving device 64 . Each of the working heads 60 and 62 has a suction nozzle (see FIG. 2 ) 66 , and components are held by the suction nozzle 66 . Further, the work head moving device 64 includes an X-direction moving device 68 , a Y-direction moving device 70 , and a Z-direction moving device 72 . Then, by the X-direction moving device 68 and the Y-direction moving device 70 , the two working heads 60 and 62 are integrally moved to arbitrary positions on the frame portion 40 . The working heads 60 and 62 are detachably attached to the sliders 74 and 76 as shown in FIG. 2 , and the Z-direction moving device 72 individually moves the sliders 74 and 76 in the vertical direction. That is, the working heads 60 and 62 are individually moved in the up-down direction by the Z-direction moving device 72 .

The imaging device 26 is attached to the slider 74 in a downward state, and moves in the X direction, the Y direction, and the Z direction together with the working head 60 . Thereby, the imaging device 26 images an arbitrary position on the frame portion 40 . As shown in FIG. 1 , the imaging device 28 is disposed between the base material conveying and holding device 22 and the component supply device 30 on the frame portion 40 in an upward state. Thereby, the imaging device 28 images the components held by the suction nozzles 66 of the work heads 60 and 62 .

The component supply device 30 is arranged at one end portion of the frame portion 40 in the front-rear direction. The component supply device 30 includes a tray-type component supply device 78 and a feeder-type component supply device (not shown). The tray-type component supply device 78 is a device that supplies components in a state placed on a tray. The feeder type component supply apparatus is an apparatus which supplies components by a tape feeder (illustration omitted) and a rod feeder (illustration omitted).

The bulk component supply device 32 is disposed at the other end portion in the front-rear direction of the frame portion 40 . The bulk component supply device 32 is a device that aligns a plurality of components in a state of being scattered randomly, and supplies the components in an aligned state. That is, it is a device which arranges a plurality of components in an arbitrary posture in a predetermined posture and supplies components in the predetermined posture. Hereinafter, the configuration of the component supply device 32 will be described in detail. It should be noted that the components supplied by the component supply device 30 and the bulk component supply device 32 are generally irregular components, and specifically, for example, electronic circuit components, components of solar cells, components of power modules, etc. can be mentioned. . In addition, among electronic circuit elements, there are elements with leads, elements without leads, and the like.

The bulk component supply device 32 includes a main body 80 , a component supply unit 82 , an imaging device 84 , and a component delivery device 86 as shown in FIG. 3 .

(a) Component supply unit

The component feeding unit 82 includes a component feeder 88 , a component scattering device (refer to FIG. 4 ) 90 , and a component retracting device (see FIG. 4 ) 92 , which are integrally constructed. The component supply unit 82 is detachably assembled to the base 96 of the main body 80, and in the bulk component supply device 32, five component supply units 82 are arranged in a row in the X direction.

The component feeder 88 generally has a rectangular parallelepiped box shape, and is arranged to extend in the Y direction as shown in FIGS. 4 and 5 . In addition, the Y direction is described as the front-rear direction of the component feeder 88 , and in the component supply unit 82 , the direction toward the side where the component retracting device 92 is arranged is described as the front, and the direction toward the component feeder 88 is described as the front. The direction of the side is described as the rear.

The component feeder 88 is opened on the upper surface and the front surface, the opening on the upper surface is the input port 97 of the component, and the opening on the front surface is the discharge port 98 of the component. In the component feeder 88 , the inclined plate 104 is arranged below the input port 97 . The inclined plate 104 is arranged so as to be inclined downward toward the center direction from the end face on the rear side of the component feeder 88 .

Furthermore, as shown in FIG. 5 , the conveyor 106 is arranged on the front side of the inclined plate 104 . The conveyance apparatus 106 is arrange|positioned so that it may incline upward toward the front of the component feeder 88 from the front side edge part of the inclined plate 104. It should be noted that the conveyor belt 112 of the conveyor device 106 rotates counterclockwise in FIG. 5 . That is, it is inclined upward from the front end portion of the inclined plate 104 toward the front based on the conveyance direction of the conveyor 106 . In addition, a plurality of protrusions 115 are formed on the conveyance surface, which is the surface of the conveyor belt 112 , so as to extend in the width direction of the conveyor belt 112 . The plurality of protrusions 115 are formed at intervals in the rotation direction of the conveyor belt 112 that are longer than the dimension in the longitudinal direction of the components supplied by the component feeder 88 .

Moreover, the inclined plate 126 is arrange|positioned below the front side edge part of the conveyance apparatus 106. As shown in FIG. The inclined plate 126 is disposed from the front side end surface of the component feeder 88 toward the lower side of the conveyor 106 , and the rear side end portion is inclined obliquely downward. Furthermore, an inclined plate 128 is also arranged below the inclined plate 126 . The inclined plate 128 is inclined from below the central portion of the conveyor 106 toward the discharge port 98 of the component feeder 88 and the front end portion is positioned below.

Furthermore, as shown in FIG. 4 , a pair of side frame portions 130 are assembled to the base 96 . The pair of side frame portions 130 are erected to be parallel to each other and to extend in the Y direction in an opposing state. The distance between the pair of side frame portions 130 is slightly larger than the widthwise dimension of the component feeder 88 , and the component feeder 88 is detachably mounted between the pair of side frame portions 130 .

The component scattering device 90 includes a component support member 150 and a component support member moving device 152 . The element support member 150 is composed of a table 156 and a pair of side wall portions 158 . The table 156 is generally in the shape of an elongated plate, and is arranged so as to extend forward from the lower side of the component feeder 88 mounted between the pair of side frame portions 130 . In addition, the upper surface of the table 156 is generally horizontal, and as shown in FIG. Furthermore, as shown in FIG. 4 , the pair of side wall portions 158 are fixed in a state of being erected on both sides in the longitudinal direction of the table 156 , and the upper end of each side wall portion 158 is upward relative to the upper surface of the table 156 . Square extends out.

Then, the element support member moving device 152 slides the element support member 150 in the Y direction by the operation of the air cylinder (see FIG. 11 ) 166 . At this time, the component support member 150 moves between a stored state (refer to FIG. 6 ) in which it is stored below the component feeder 88 and an exposed state (refer to FIG. 5 ) in which it is exposed from below the component feeder 88 .

As shown in FIG. 7 , the component retracting device 92 includes a component storage container 180 and a container swinging device 181 . The component storage container 180 is generally box-shaped, and the bottom surface is in the shape of an arc. The component storage container 180 is swingably held by the end portion on the front side of the table 156 of the component support member 150 , and is rocked by the operation of the container rocking device 181 . At this time, the component storage container 180 swings between a storage posture (refer to FIG. 7 ) in which the opening is directed upward and a retracted posture (refer to FIG. 8 ) in which the opening is directed to the upper surface of the table 156 of the component support member 150 .

(b) Camera device

As shown in FIG. 3 , the camera device 84 includes a camera 290 and a camera movement device 292 . Camera moving device 292 includes rails 296 and sliders 298 . The guide rail 296 is fixed to the main body 80 so as to extend in the width direction (X direction) of the bulk component supply device 32 above the component feeder 88 . The slider 298 is slidably attached to the guide rail 296 , and is slid to an arbitrary position by the operation of the electromagnetic motor (see FIG. 11 ) 299 . In addition, the camera 290 is attached to the slider 298 in a downward state.

(c) Component handover device

As shown in FIG. 3 , the component handover device 86 includes a component holding head moving device 300 , a component holding head 302 , and two shuttle devices 304 .

The component holding head moving device 300 includes an X-direction moving device 310 , a Y-direction moving device 312 , and a Z-direction moving device 314 . The Y direction moving device 312 has a Y slider 316 arranged above the component supply unit 82 so as to extend in the X direction, and the Y slider 316 is driven by an electromagnetic motor (see FIG. 11 ) 319 to any direction in the Y direction. position moves. The X-direction moving device 310 includes an X-slider 320 disposed on the side surface of the Y-slider 316 , and the X-slider 320 is moved to an arbitrary position in the X-direction by driving an electromagnetic motor (see FIG. 11 ) 321 . The Z-direction moving device 314 includes a Z-slider 322 disposed on the side surface of the X-slider 320 , and the Z-slider 322 is moved to an arbitrary position in the Z-direction by the drive of an electromagnetic motor (see FIG. 11 ) 323 .

As shown in FIG. 9 , the component holding head 302 includes a head main body 330 , a suction nozzle 332 , a nozzle turning device 334 and a nozzle turning device 335 . The head main body 330 is integrally formed with the Z slider 322 . The suction nozzle 332 holds components, and is detachably attached to the lower end portion of the holder 340 . The bracket 340 can be bent at the support shaft 344, and the bracket 340 is bent 90 degrees in the upward direction by the operation of the nozzle turning device 334. Thereby, the suction nozzle 332 attached to the lower end portion of the holder 340 is rotated by 90 degrees and is located at the rotation position. That is, the suction nozzle 332 is rotated between the non-rotating position and the rotating position by the operation of the nozzle rotating device 334 . Of course, it is also possible to position and stop at an angle between the non-swing position and the swing position. Moreover, the nozzle rotation device 335 rotates the suction nozzle 332 around the axis.

Furthermore, as shown in FIG. 3 , the two shuttle devices 304 respectively include a component carrier 388 and a component carrier moving device 390 , which are arranged laterally on the front side of the component supply unit 82 and fixed to the main body 80 . In the component carrier 388, five component receiving members 392 are assembled in a state of being lined up in a horizontal direction, and components are placed in each of the component receiving members 392.

In addition, the bulk component supply apparatus 32 can supply various components, and prepares various component receiving members 392 according to the shape of a component. Here, the component receiving member 392 corresponding to the lead component 410 having a lead wire as shown in FIG. 10 as the electronic circuit component supplied by the bulk component supply device 32 will be described. The lead element 410 is composed of a block-shaped element body 412 and two leads 414 protruding from the bottom surface of the element body 412 .

In addition, an element accommodating recess 416 having a shape corresponding to the lead element 410 is formed in the element receiving member 392 . The element accommodating concave portion 416 is a stepped concave portion composed of a main body portion accommodating concave portion 418 opened on the upper surface of the element receiving member 392 and a lead wire accommodating concave portion 420 opening on the bottom surface of the main body portion accommodating concave portion 418 . Then, the lead element 410 is inserted into the element accommodating recess 416 with the lead 414 facing downward. Thus, the lead element 410 is placed inside the element accommodating concave portion 416 in a state where the lead wire 414 is inserted into the lead wire accommodating recess 420 and the element body 412 is inserted into the main body portion accommodating concave portion 418 .

Moreover, as shown in FIG. 3, the component carrier moving apparatus 390 is a plate-shaped elongate member, and is arrange|positioned on the front side of the component supply unit 82 so that it may extend in the front-back direction. The component carrier 388 is disposed on the upper surface of the component carrier moving device 390 so as to be slidable in the front-rear direction, and is slid at an arbitrary position in the front-rear direction by the driving of the electromagnetic motor (see FIG. 11 ) 430 . In addition, when the component carrier 388 slides in the direction approaching the component supply unit 82, it slides to the component receiving position located in the movement range which the component holding head moving apparatus 300 moves the component holding head 302. On the other hand, when the component carrier 388 slides in the direction away from the component supply unit 82 , it slides to the component supply position within the movement range of the work heads 60 and 62 by the work head moving device 64 .

Furthermore, as shown in FIG. 11 , the control device 34 includes an overall control device 450 , a plurality of individual control devices (only one is shown in the figure) 452 , and an image processing device 454 . The overall control device 450 is mainly composed of a computer, and is connected to the substrate conveyance and holding device 22 , the component mounting device 24 , the imaging device 26 , the imaging device 28 , the component supply device 30 , and the bulk component supply device 32 . Thereby, the overall control device 450 performs overall control of the substrate conveyance and holding device 22 , the component mounting device 24 , the imaging device 26 , the imaging device 28 , the component supply device 30 , and the bulk component supply device 32 . The plurality of individual control devices 452 are constituted mainly by a computer, and are provided in correspondence with the substrate conveyance and holding device 22, the component mounting device 24, the imaging device 26, the imaging device 28, the component supplying device 30, and the bulk component supplying device 32 (Fig. Only a separate control device 452 ) corresponding to the bulk component supply device 32 is shown.

The individual control device 452 of the bulk component feeding device 32 is connected to the component spreading device 90 , the component retracting device 92 , the camera moving device 292 , the component holding head moving device 300 , the component holding head 302 , and the shuttle device 304 . Thereby, the individual control device 452 of the bulk component supply device 32 controls the component scattering device 90 , the component retracting device 92 , the camera moving device 292 , the component holding head moving device 300 , the component holding head 302 , and the shuttle device 304 . Furthermore, the image processing device 454 is connected to the imaging device 84 and processes the imaging data captured by the imaging device 84 . The image processing device 454 is connected to the individual control device 452 of the bulk component supply device 32 . Thereby, the individual control device 452 of the bulk component supply device 32 acquires the imaging data captured by the imaging device 84 .

(B) Operation of the component mounting machine

The component mounting machine 10 performs the component mounting operation|work with respect to the circuit base material 12 hold|maintained by the base material conveyance holding apparatus 22 by the structure mentioned above. Specifically, the circuit base material 12 is conveyed to a work position, and is held fixed at the position by the clamp device 52 . Next, the imaging device 26 moves above the circuit base material 12 to image the circuit base material 12 . Thereby, information on the error of the holding position of the circuit substrate 12 is obtained. Then, the component supply device 30 or the bulk component supply device 32 supplies components at a predetermined supply position. In addition, the supply of components by the bulk component supply device 32 will be described in detail later. Then, either of the working heads 60 and 62 is moved above the supply position of the components, and the components are held by the suction nozzle 66 . Next, the working heads 60 and 62 holding the components are moved above the imaging device 28 , and the components held by the suction nozzle 66 are imaged by the imaging device 28 . Thereby, information on the error of the holding position of the element is obtained. Then, the working heads 60 and 62 holding the components are moved above the circuit substrate 12 to correct the error in the holding position of the circuit substrate 12, the error in the holding position of the components, and the like, and mount the held components on the circuit substrate. 12 on.

(C) Operation of the Bulk Component Supply Device

(a) Supply of lead components by bulk component supply device

In the bulk component supply device 32 , the lead components 410 are put in by a worker from the input port 97 of the component supply device 88 , and placed in the component receiving member 392 of the component carrier 388 by the operation of the component supply unit 82 and the component delivery device 86 . The state of the input lead element 410 is supplied.

Specifically, a worker inserts the lead components 410 from the insertion port 97 on the upper surface of the component feeder 88 . At this time, the component support member 150 is moved below the component feeder 88 by the operation of the component support member moving device 152, and is in a storage state (see FIG. 6 ). It should be noted that, when the component support member 150 is in the stored state, the component storage container 180 arranged at the end portion on the front side of the component support member 150 is located in front of the component feeder 88 so that the opening of the component storage container 180 faces The upper posture (storage posture).

The lead components 410 inserted from the insertion port 97 of the component feeder 88 drop onto the inclined plate 104 of the component feeder 88 and roll down to the lower end on the front side of the inclined plate 104 . At this time, the lead elements 410 rolled down to the lower end on the front side of the inclined plate 104 are piled up between the lower end on the front side of the inclined plate 104 and the lower end on the rear side of the conveyor 106 . Then, by operating the conveyor 106, the conveyor belt 112 of the conveyor 106 rotates counterclockwise in FIG. 6 . At this time, a predetermined number of lead elements 410 among the lead elements 410 piled up between the inclined plate 104 and the conveyor belt 112 enter between the adjacent two protrusions 115 of the conveyor belt 112 , and those plural lead elements 410 pass through the conveyor belt 112 And carry it diagonally upwards.

Then, the lead member 410 conveyed by the conveyor 112 is dropped onto the inclined plate 126 from the upper end on the front side of the conveyor 106 . The lead element 410 dropped on the inclined plate 126 rolls backward on the inclined plate 126 and falls on the inclined plate 128 . The lead components 410 dropped on the inclined plate 128 roll down toward the front, and are discharged from the discharge port 98 on the front side of the component feeder 88 .

Thereby, the lead components 410 discharged from the discharge port 98 of the component feeder 88 are accommodated in the component storage container 180 . Then, when a predetermined amount of lead components 410 is discharged from the component feeder 88, that is, when the transfer device 106 performs a certain amount of work, the transfer device 106 is stopped. Next, the element support member 150 is moved forward from the stored state by the operation of the element support member moving device 152 .

Then, when the component support member 150 moves forward by a predetermined amount from the stored state to the exposed state, the container swinging device 181 of the component retracting device 92 operates, and the component storage container 180 swings. Thereby, the attitude|position of the component storage container 180 changes sharply from the attitude|position (accommodation attitude|position) with an opening facing upwards to the attitude|position (retracted attitude|position) with an opening facing the table 156. At this time, the lead components 410 accommodated in the component storage container 180 are violently discharged toward the table 156 . Thereby, the lead components 410 are spread from the component storage container 180 onto the table 156 . In addition, the swinging operation of the component storage container is set to be completed before the component support member 150 is completely exposed in order to avoid an increase in cycle time.

When the lead components 410 are spread from the component feeder 88 onto the stage 156 of the component support member 150 according to the above-described procedure, the camera 290 of the imaging device 84 is moved above the component support member 150 by the operation of the camera moving device 292, The lead element 410 is imaged. Then, the plurality of lead components 410 scattered on the upper surface of the component support member 150 are separated into lead components that can be picked up and lead components that cannot be picked up by the suction nozzle 332 based on the imaging data. In addition, the lead component which can be picked up by the suction nozzle 332 is described as a pick-up target component, and the lead component which cannot be picked up by the suction nozzle 332 is described as a non-pick-up target component.

The method of distinguishing the pick-up target components and the non-pick-up target components has nothing to do with the present invention, so it will be briefly described, and the lead components 410 in the upward state, the lead components 410 in the overlapped state, and the like, which are difficult to be attracted by the uneven surface, etc. The lead elements 410 and the like that are too close to the side wall portion 158 to be sucked are classified as non-pickup target elements, and the other lead elements 410 are classified as pick-up target elements. Then, with respect to the lead components 410 divided into pick-up target components, information such as the position on the component support member 150 and the posture of the lead components 410 is obtained based on the imaging data.

Then, based on the acquired position information of the pick-up target component, the component holding head 302 is moved above the pick-up target component by the operation of the component-holding head moving device 300 , and the pick-up target component is sucked and held by the suction nozzle 332 . In addition, when the pick-up target component is suction-held by the suction nozzle 332, the suction nozzle 332 is located in a non-rotating position.

Next, after the lead component 410 is held by the suction nozzle 332 , the component holding head 302 is moved above the component carrier 388 . At this time, the component carrier 388 is moved to the component receiving position by the operation of the component carrier moving device 390 . Then, when the component holding head 302 is moved above the component carrier 388, the suction nozzle 332 is rotated to the rotation position. In addition, in order to make the lead wire 414 of the lead wire element 410 hold|maintained by the suction nozzle 332 in the rotating position to face downward in the vertical direction, the suction nozzle 332 is rotated by the operation of the nozzle rotating device 335.

When the element holding head 302 is moved above the element carrier 388 , the lead element 410 with the lead wire 414 facing downward in the vertical direction is inserted into the element accommodating recess 416 of the element receiving member 392 . As a result, as shown in FIG. 10 , the lead element 410 is placed in the element receiving member 392 with the lead 414 facing downward in the vertical direction.

Then, when the lead component 410 is placed in the component receiving part 392 , the component carrier 388 is moved to the component supply position by the operation of the component carrier moving device 390 . The component carrier 388 moved to the component supply position is located within the movement range of the work heads 60 and 62 , and therefore in the bulk component supply device 32 , the lead components 410 are supplied to the component mounter 10 at this position. In this way, in the bulk component supply device 32, the lead components 410 are supplied in a state in which the lead wires 414 face downward and the upper surface opposite to the bottom surface of the connection lead 414 faces upward. Therefore, the suction nozzles 66 of the work heads 60 and 62 can appropriately hold the lead member 410 .

(b) Storage of lead components in the component storage container and distribution to the table

In the bulk component supply device 32, when the picked-up target components are scattered on the table 156 of the component support member 150, the picking-up of the scattered pick-up target components is repeated, and the picked-up target components are placed on the component receiving in component 392. Then, the lead component 410 is supplied by moving the component carrier 388 on which the component receiving member 392 is mounted to the component supply position. However, when the components to be picked up are not scattered on the table 156 of the component support member 150 , the lead components 410 cannot be picked up from the table 156 . That is, all the lead components 410 judged to be able to be picked up are picked up, and when the lead components 410 judged to be unpickable or the lead components 410 judged to be unidentifiable remain on the table 156 , the lead components 410 cannot be picked up from the table 156 . Pick up lead element 410.

Therefore, in the bulk component supply device 32 , in that case, the lead components 410 remaining on the table 156 are recovered to the component storage container 180 . Then, the lead components 410 collected in the component storage container 180 are scattered on the table 156 again, and the lead components 410 are picked up from the table 156 again by changing the posture of the lead components 410 .

Specifically, when all the components to be picked up on the table 156 are picked up, the component support member 150 is moved downward of the component feeder 88 by the operation of the component support member moving device 152 . That is, the element support member 150 moves from the exposed state (refer to FIG. 5 ) to the stored state (refer to FIG. 6 ). At this time, the component storage container 180 arranged at the front end portion of the component support member 150 is in a posture (recovery posture) in which the opening is directed upward. Then, when the component support member 150 is moved from the exposed state to the stored state, the lead components 410 on the table 156 of the component support member 150 are blocked by the end portion on the front side of the inclined plate 128 of the component feeder 88 .

Then, when the component support member 150 is moved to the storage state as shown in FIG. 6 , the lead components 410 on the table 156 are scraped to the inside of the component storage container 180 . Thereby, the lead components 410 on the table 156 are recovered into the component storage container 180 . In this way, when the lead components 410 on the table 156 are recovered in the component storage container 180 , the recovered lead components 410 are replenished on the table 156 .

In detail, when the collection|recovery of the lead element 410 to the element storage container 180 is completed, the element support member 150 is in the storage state as shown in FIG. Therefore, the element support member 150 is moved forward from the stored state by the operation of the element support member moving device 152 . Then, when the component support member 150 moves forward by a predetermined amount from the stored state to the exposed state, the container swinging device 181 of the component retracting device 92 operates, and the component storage container 180 swings. Thereby, the attitude|position of the component storage container 180 changes sharply from the attitude|position (accommodation attitude|position) with an opening facing upwards to the attitude|position (retracted attitude|position) with an opening facing the table 156.

At this time, the lead components 410 accommodated in the component storage container 180 are violently discharged toward the table 156 . Thereby, the lead components 410 are spread from the component storage container 180 onto the table 156 . That is, the lead components 410 collected in the component storage container 180 are replenished to the table 156 . Thereby, the posture of the supplied lead element 410 is changed, and the lead element 410 is picked up from the table 156 again.

(c) Supply of lead components from the component feeder to the table

In addition, after the storage of the lead components 410 from the table 156 to the component storage container 180 and the replenishment of the lead components 410 from the component storage container 180 to the table 156 are repeated, the number of the lead components 410 scattered on the table 156 is reduced. . Therefore, when the number of lead components 410 scattered on the table 156 decreases, the lead components 410 are replenished from the component feeder 88 .

Specifically, in order to replenish the lead components 410 from the component feeder 88, the number of lead components 410 scattered on the table 156 needs to be identified. Therefore, the ratio of the lead elements 410 on the table 156 is used as an index value for estimating the number of the lead elements 410 scattered on the table 156 .

Specifically, before the lead components 410 are stored in the component storage container 180 from the stage 156 , the stage 156 is imaged by the camera 290 . Then, based on the imaging data, the area of the portion where the lead components 410 are not placed on the stage 156 where the lead components 410 are scattered is calculated. That is, the area of the exposed portion of the calculation table 156 (hereinafter, referred to as "exposed area"). Specifically, for example, when the color of the stage 156 is white and the color of the lead element 410 is black, based on the acquired imaging data, a part recognized as white is extracted, and the area of the extracted part is taken as the exposed area. operation.

It should be noted that, before the lead components 410 are spread on the table 156 , that is, the camera 290 captures an image of the table 156 in a state where nothing is placed. Then, the area of the table 156 (hereinafter referred to as "table area") is calculated based on the imaging data. That is, for example, when the color of the table 156 is white, a white portion is extracted based on the imaging data, and the area of the extracted portion is calculated as the table area.

Then, the area occupied by the lead elements 410 scattered on the table 156 is calculated by subtracting the exposed area from the table area (hereinafter referred to as "element occupied area"). Next, the ratio of the lead element 410 on the table 156 is calculated by calculating the ratio of the element occupied area to the table area (hereinafter referred to as "element occupancy rate"). The higher the component occupancy rate, the greater the number of lead components 410 scattered on the table 156 , and the lower the component occupancy rate, the less the number of lead components 410 scattered on the table 156 . Therefore, the element occupancy rate can be used as an index value for estimating the number of lead elements 410 scattered on the stage 156 .

Therefore, when the calculated component occupancy rate is equal to or less than the threshold value, it is estimated that the number of lead components 410 remaining on the table 156 is equal to or less than the predetermined number, and components are replenished from the component feeder 88 to the table 156 . Specifically, when the calculated component occupancy rate is equal to or less than the threshold value, the component support member 150 is moved from the exposed state to the stored state by the operation of the component support member moving device 152 . At this time, the lead components 410 are supplied from the component feeder 88 at this timing. In addition, since the description of the supply operation of the lead components 410 from the component feeder 88 has been described above, the details are omitted.

That is, when the calculated component occupancy rate is equal to or less than the threshold value, the table 156 is moved from the exposed state to the stored state, and the lead components 410 are supplied from the component feeder 88 onto the table 156 . Therefore, the lead components 410 supplied from the component feeder 88 on the table 156 and the lead components 410 remaining on the table 156 before the lead components 410 are supplied from the component feeder 88 are accommodated in the component storage container 180 . Then, the lead components 410 accommodated in the component storage container 180 are spread on the table 156 in accordance with the above-described procedure. Accordingly, when the number of lead components 410 remaining on the table 156 decreases, the lead components 410 are replenished from the component feeder 88 at this timing, and the lead components 410 can be picked up from the table 156 continuously.

In addition, the lead components 410 remaining on the table 156 and the components supplied from the component feeder 88 are temporarily accommodated in the component storage container 180, and the accommodated components are spread on the table again. Accordingly, the components supplied to the table 156 include components scattered on the table 156 before being stored in the component storage container 180 . In addition, the component feeder 88 and the component storage container 180 function as replenishment means.

(d) Adjustment of the number of lead elements on the table

As described above, when the component occupancy rate is equal to or less than the threshold value, the lead components 410 can be continuously picked up from the table 156 by supplying the lead components 410 from the component feeder 88 onto the table 156 . However, when the threshold value is uniformly set regardless of the type of the lead elements 410 , the lead elements 410 scattered on the table 156 may overlap.

Specifically, for example, as shown in FIG. 12 , when the element occupancy rate of the lead elements 410 a having a relatively small size is equal to or less than the threshold value A, a relatively large gap exists between the adjacent lead elements 410 a. Therefore, when the component occupancy rate of the lead components 410a having a relatively small size is equal to or less than the threshold value A, even if the lead components 410a are supplied from the component feeder 88, there is a space on the table 156 for the newly supplied lead components 410a to be scattered. The lead elements 410a are difficult to overlap.

On the other hand, as shown in FIG. 13 , when the element occupancy rate of the lead elements 410b having a relatively large size is equal to or less than the threshold value A, there is almost no gap between the adjacent lead elements 410b. Therefore, when the component occupancy rate of the lead components 410b of a relatively large size is equal to or less than the threshold value A, when the lead components 410b are supplied from the component feeder 88, there is no space on the table 156 for newly supplied lead components 410b to be scattered. , the lead elements 410b are easily overlapped.

That is, when the component occupancy rate of the lead component 410b of a relatively large size is equal to or less than the threshold value A, when the lead component 410b is supplied from the component feeder 88, the lead component 410b is overlapped on the table 156 and is not picked up The probability of the target component becomes high. In this way, when the probability that the lead component 410b becomes a non-pickup object component increases, the number of times of execution of the collection operation to the component storage container 180 and the like increases, and the operation efficiency decreases.

Also, there are lead elements 410 that are easy to overlap and lead elements 410 that are difficult to overlap not only depending on the size of the lead elements 410 , but also lead elements 410 that are easy to overlap and lead elements 410 that are difficult to overlap depending on the shape of the lead elements 410 . Therefore, when the element occupancy rate of the lead elements 410 having a shape that is difficult to overlap is equal to or less than the threshold value A, even if the lead elements 410 are replenished from the element feeder 88 , the lead elements 410 do not easily overlap. On the other hand, when the element occupancy rate of the lead elements 410 having a shape that is easy to overlap is equal to or less than the threshold value A, the lead elements 410 tend to overlap when the lead elements 410 are replenished from the element feeder 88 . In other words, lead elements of different sizes can also be considered lead elements of different shapes

In view of this situation, in the bulk component supply device 32 , the threshold value is set according to the type of the lead component 410 . For example, the threshold value A1 set for the lead element 410b of the larger size is set to be smaller than the threshold value A2 set for the lead element 410a of the small size. That is, when the lead elements 410b of a relatively large size are scattered on the table 156, compared with the lead elements 410a of a relatively small size, the components are supplied from the components in a state where there are fewer components remaining on the table 156 The device 88 replenishes the lead element 410b.

Further, for example, the threshold value A3 set for the lead element 410 having a shape that is easily overlapped is set to be smaller than the threshold value A4 set for the lead element 410 having a shape that is difficult to overlap. That is, when lead elements 410 of a shape that is easy to overlap are scattered on the table 156, compared with lead elements 410 of a shape that is difficult to overlap, the components are supplied from the components in a state where there are fewer components remaining on the table 156 The device 88 replenishes the lead element 410 . In this way, by setting the threshold value according to the type of the lead components 410 , it is possible to suppress overlapping of lead components when the lead components are replenished from the component feeder 88 .

However, when the lead components 410 are replenished from the component feeder 88 to the table 156, the number of components to be replenished from the component feeder 88 varies depending on the type of the lead components 410, and therefore, there is a possibility that the table 156 may not be properly spread on the table 156 after replenishment. amount of lead element 410 . Specifically, in the component feeder 88 , the lead components 410 are supplied to the table 156 by the rotation of the conveyor 112 , but the conveyor 112 rotates, for example, by a distance corresponding to the dimension between the two adjacent protrusions 115 . Therefore, the lead components 410 inserted between the two adjacent protrusions 115 are supplied from the component feeder 88 to the table 156 .

Specifically, for example, when the lead components 410a of a relatively small size are supplied from the component feeder 88, as shown in FIG. 14, nine lead components 410a enter between the two adjacent protrusions 115, so The component feeder 88 supplies nine lead components 410 a to the stage 156 . On the other hand, when the lead components 410b of a relatively large size are supplied from the component feeder 88, as shown in FIG. The feeder 88 supplies the two lead elements 410 b to the table 156 .

In addition, since the lead elements 410 of a shape that is easy to overlap easily overlap between two adjacent protrusions 115, a relatively large number of lead elements 410 enter and are supplied from the component feeder 88 to the stage 156. Lead element 410 . On the other hand, since the lead components 410 of a shape that is difficult to overlap are difficult to overlap between the two adjacent protrusions 115 , only a relatively small number of lead components 410 enter, and a small amount is supplied from the component feeder 88 to the stage 156 . The number of lead elements 410 .

In this way, when the lead components 410 are replenished from the component feeder 88, if the rotation amount of the conveyor 112 is set the same regardless of the type of components, the number of components replenished from the component feeder 88 varies depending on the type of components, and after replenishment An appropriate amount of lead elements 410 cannot be spread over the table 156 . In view of this situation, the amount of rotation of the conveyor belt 112 at the time of component replenishment is set according to the type of the lead component 410 .

For example, the rotation amount of the conveyor belt 112 at the time of supplying the lead element 410a of the smaller size is set in the individual control device 452 or the overall control device 450 to a distance corresponding to the size between the two adjacent protrusions 115 ( Described below as "set distance"). On the other hand, the rotation amount of the conveyor belt 112 at the time of replenishing the lead element 410b of the larger size is set to a distance five times the set distance. As a result, when components are supplied from the component feeder 88 to the table 156, about nine lead components 410a of smaller size are supplied, and about ten lead components 410b of larger size are supplied. In addition, the rotation amount of the conveyor belt 112 during replenishment of the lead elements 410 of the shape that is difficult to overlap is set to be larger than the rotation amount of the conveyor belt 112 during replenishment of the lead elements 410 of the easily overlapping shape.

In this way, by setting the rotation amount of the conveyor 112 at the time of component replenishment according to the component type, the number of components replenished from the component feeder 88 to the table 156 can be made substantially the same regardless of the component type. Thus, after the components are replenished from the component feeder 88 , an appropriate amount of components can be spread on the table 156 . In addition, the rotation amount of the conveyor belt may not be limited to an integral multiple of the set distance.

Therefore, in the bulk component supply device 32, the threshold value used when determining the timing of replenishing components from the component feeder 88 and the rotation amount of the conveyor 112 at the time of component replenishment are set in accordance with the types of components, thereby appropriately adjusting the operating time. The number of components spread on stage 156 ensures proper component supply.

In addition, in the bulk component supply device 32, five components supply units 82 are provided as described above. In each of the five component supply units 82, one table corresponds to one component feeder 88, and components are supplied from one component supplier 88 associated with one table. Therefore, the amount of components on the table 156 can be adjusted for each component supply unit 82 of the five component supply units 82 . That is, when components of different types are supplied corresponding to each of the five component supply units 82 , the threshold value used for the timing of supplying components from the component feeder 88 is determined for each table 156 . It is different from the rotation amount of the conveyor 112 during component replenishment. Therefore, the amount of components spread on the table 156 is adjusted for each component supply unit 82 of the five component supply units 82 . Thereby, the amount of components on the table 156 can be adjusted according to the amount of components respectively supplied from the component supply unit 82, and the bulk component supply device 32 can supply various components in a balanced manner. That is, the components can be supplied accurately according to the required component supply speed.

In addition, in the bulk component supply device 32, the threshold value used to determine the timing of replenishing components differs from the rotation amount of the conveyor 112 at the time of component replenishment for each table 156, so that a plurality of components can be supplied at arbitrary timings. The devices 88 replenish the components to the table 156, respectively. As this timing, the timing at which the operation of the conveyor 112 is started and the timing at which the operation of the conveyor belt 112 is stopped at the time of component replenishment can be employed. Therefore, it is possible to make the timing of component replenishment a timing based on the number of times of replenishment of components from the conveyor 112 per unit time.

In addition, the bulk component supply device 32 is an example of a component supply device. The component feeder 88 is an example of a replenishing device. The table 156 is an example of a table. The component storage container 180 is an example of a replenishment device. The individual control device 452 is an example of a control device.

In addition, this invention is not limited to the said Example, It can implement in the various aspects which performed various changes and improvement based on the knowledge of those skilled in the art. Specifically, for example, in the above-described embodiment, the table is adjusted by setting the threshold value used to determine the timing of replenishing components from the component feeder 88 and the rotation amount of the conveyor 112 at the time of component replenishment according to the type of components. 156 components. On the other hand, at least one of the threshold value and the rotation amount of the conveyor belt 112 may be set according to the type of components, thereby adjusting the component amount of the table 156 .

Furthermore, in the above-described embodiment, one table and one component feeder are associated with each other, but for example, two tables and three component feeders may be associated with each other. In this case, components are supplied from the two component feeders associated with the first table, and components are supplied from the remaining one component feeder associated with the second table.

Furthermore, in the above-described embodiment, the rotation amount of the conveyor belt 112 is set according to the type of components, thereby adjusting the number of components supplied from the component feeder 88, but the operating time of the conveyor belt 112 may be set according to the type of components. , thereby adjusting the number of components supplied from the component feeder 88 . Furthermore, when a bucket or the like is used instead of the conveyor 106 as the means for supplying components from the component feeder 88 to the table 156, the number of times of supply from the bucket may be set according to the type of components, thereby adjusting the number of supply from the bucket. The number of components supplied by the component feeder 88.

Furthermore, in the above-described embodiment, the component occupancy rate is used as an index value for estimating the number of components scattered on the table 156 , but the number of components scattered on the table 156 may be used. Specifically, for example, the outlines of components in various postures may be distinguished based on the imaging data, and the number of components spread on the table 156 may be calculated based on the distinguished outlines. In this case, when the calculated number of components is equal to or less than the threshold value, components are supplied from the component feeder 88 to the table 156 .

Furthermore, in the above-described embodiment, all the element-specific areas are calculated by subtracting the exposed area from the stage area, but the element-specific areas may be calculated based on imaging data. Specifically, for example, when the color of the stage 156 is white or bright, and the color of the lead element 410 is black or dark, a portion recognized as black or dark may be extracted based on the imaging data, and the portion of the extracted portion may be extracted. Areas are computed as component-specific areas.

Furthermore, in the above-described embodiment, the present invention is applied to the lead element 410, but the present invention can be applied to various types of elements. Specifically, the present invention can be applied to, for example, a component of a solar cell, a component of a power module, an electronic circuit component that does not have a lead wire, and the like.

Description of reference numerals

32: Bulk Component Supply Device (Working Machine) 82: Component Supply Unit (Component Supply Device) 88: Component Feeder (Replenishment Device) 156: Table

Claims (6)

1. A component supply device comprising: Multiple supply devices to supply components of different shapes respectively; a plurality of workbenches on which the components replenished from the replenishment device are interspersed; and The control unit supplies the components to the table from each of the plurality of supplying devices at an arbitrary timing. 2. The component supply device according to claim 1, wherein, The respective workbenches of the plurality of workbenches are supplied with the elements of different shapes from a supply device associated with the respective workbenches on a one-to-one basis. 3. The component supply device according to claim 1 or 2, wherein, The timing at which each of the plurality of supplying devices supplies the components of different shapes to the table is based on the number of times of supplying per unit time. 4. The component supply device according to any one of claims 1 to 3, wherein The number of components to be replenished from the replenishing device to the table at one time is set according to the components of the different shapes. 5. The component supply device according to any one of claims 1 to 4, wherein The differently shaped elements fed from the feeding device to the table include elements scattered across the table. 6. A component supply method in which components of different shapes supplied from each of a plurality of supplying devices to each of a plurality of workbenches are supplied to each of the plurality of workbenches in a state of being scattered on the respective workbenches of the plurality of workbenches. Component assembly device supply, wherein, The number of components can be changed corresponding to each of the plurality of stages.

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